Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 9 pot

... £n'ETTING4O'RIPS7ITH(ANDLING4ASKS4HElNGER GRIPPERS ALREADYMENTIONEDREQUIREEVENMORESENSITIVESENSORS4HElNGERS OF THE "ARRET(ANDAREBASEDON $-3 STRAINGAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONINGORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCEWITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND!VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVEANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTIONINTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVENWORKPIECECONDUCTIVITY#URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXTFEWYEARSsADAPTABILITYsSENSE OF TOUCHsVISUALACUITYhEYESIGHTvsINTERACTIVITYhACTINGANDREACTINGv#!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND%VALUATIONUNITWITHCIRCUITBOARDÃÌ>>ÌÊ«ÌÃÊ ... forces which result from the accel-eration of the earth, in order to calculate the force required for force-fit gripping. Profound knowledge of the movements performed by the gripper permits a ... competent decision on the gripper con-struction. The following overview includes the necessary steps for analyzing workpiece kinetics and calculating the corresponding gripping force. Table...

... 4.000 8.0006 .96 95.2722 .96 22 .97 7884823770 90 0725787518533256 199 1 49 1307.0006.0005.000 The German Federation of the Engineering Industries VDMA gives the following outlook in its yearly ... orientation of the workpieces in relation to the tool`s or the gripper`s system of co-ordinates. This Secure function is usually built up before the moving process, maintained during the moving process, ... accordingly. The potential for using robots in the food processing and the packaging industry is obvious as the demand for automated solutions is high. The furniture industry is another potential...

... separated into single steps from setting up a workpiece to testing it. Production plan-ning aims at synchronizing handling time and machine time in order to prevent time-consuming handling processes ... iÀÊ-VÕ/iÊ>ÃV>ÌÊvÊÕÌ>Ìi`Ê>`}Ê/>ÃÃÀ««iÀÃÊÊÌ1.1 The Handling Process The process of handling component parts or workpieces in produc-tion is often underrated as technically simple or even trivial. From the production point of view ... iÀÊ-VÕ>`}\Ê/iÊ1`iÀÀ>Ìi`Ê*ÀViÃãÛiiÌÊ>««V>ÌÃÊ>`ÊV«iÌÃÊ>ÀiÊvÀiµÕiÌÞÊiÝ«iVÌi`ÊÌÊ«iÀvÀÊ>ÀÕ`ÊÌiÊVVÊÜVÊiÝVii`ÃÊ>Ê«ÀviÃÃ>Ê>ÌiÌi¼ÃÊÃiÌÊÌ>ÃÊLÞÊv>À°ÊÊ}À««iÀÊÀiµÕÀi`ÊÌÊÛiÊÜÀ«iViÃÊ>ÌÊ>ÊVÞViÊÌiÊvÊ£xÊ«iViÃÊ«iÀÊÕÌiÊ«iÀvÀÃÊÀiÊÌ>Ê£ÓÊÊ«i}Ê>`ÊVÃ}ÊÃÌÀiÃÊ«iÀÊÞi>ÀÊÕ`iÀÊVÃÌ>ÌÊ«iÀ>Ì°ÊÊ,LÌÃÊ«iÀvÀ}ÊÛiÀÊ£ääÊ>`ÊÀiÊ>`}ÊÌ>ÃÃÊ«iÀÊÕÌiÊ>ÀiʵÕÌiÊVÊÌ`>Þ°ÊÌiÊÈäÃÊÜÀ«iViÊ>`}Ê>ÃÊ>ʺ>ÊVÃÌ>ÌÊÃÕÀViÊvÊÜ>ÃÌi»ÊÜ>ÃÊ>Ài>`ÞÊ«ÕÌÊ>ÌÊÌiÊViÌiÀÊvÊÀiÃi>ÀVÊLÞÊ*Àv°Êiâ>iÊÊ - ÕÌÌ}>ÀÌ]ÊiÀ>Þ°ÊÊÌiÀÃÊvÊÀ>Ì>â>ÌÊÌiÊvVÕÃÊÜ>ÃÊÃiÌÊÊ>Û`}Ê«ÀiÊ>`Ê«ÃÌ«iÀ>Ì}ÊÌiÃÊ`ÕÀ}Ê>ViÊÌÊÊ«iÀ>ÌðÊ>ViÊ«iÀ>Ì}ÊÃÌ>vvÊÜ>ÃÊÌÊLiÊ`iVÕ«i`ÊvÀÊ>ViÊÌiÊLÞÊiV>V>ÊÀÊ>ÕÌ>Ìi`ÊÃÞÃÌiÃÊÜiÊ>`}ÊÌiÊÜ>ÃÊÌÊLiÊÀi`ÕVi`ÊÌÊ>ÊÕ°}ÕÀiÊ£°ÓÊ>ViÊÌiÊÉÊ>`}ÊÌiÓä,IBRARY OF #ONGRESS#ONTROL.UMBER)3".4HISWORKISSUBJECTTOCOPYRIGHT!LLRIGHTSARERESERVEDWHETHER THE WHOLEOR PART OF THE MATERIALISCONCERNEDSPECIlCALLY THE RIGHTS OF TRANSLATIONREPRINTINGREUSE OF ILLUSTRATIONSRECITATIONBROADCASTINGREPRODUCTIONONMICROlLMOR IN ANYOTHERWAYANDSTORAGE IN DATABANKS$UPLICATION OF THISPUBLICATIONORPARTSTHEREOFISPERMITTEDONLYUNDER THE PROVISIONS OF THE 'ERMAN#OPYRIGHT,AW OF 3EPTEMBER IN ITSCURRENTVERSIONANDPERMISSIONFORUSEMUSTALWAYSBEOBTAINEDFROM3PRINGER6IOLATIONSARELIABLEFORPROSECUTIONUNDER THE 'ERMAN#OPYRIGHT,AW3PRINGERISA PART OF 3PRINGER3CIENCE"USINESS-EDIASPRINGERONLINECOM¥3PRINGER6ERLAG"ERLIN(EIDELBERG0RINTED IN )TALY4HEUSE OF GENERALDESCRIPTIVENAMESREGISTEREDNAMESTRADEMARKSETC IN THISPUBLICATIONDOESNOTIMPLYEVEN IN THE ABSENCE OF ASPECIlCSTATEMENTTHATSUCHNAMESAREEXEMPTFROM THE RELEVANTPROTECTIVELAWSANDREGULATIONSANDTHEREFOREFREEFORGENERALUSE#OVERDESIGNREFORMDESIGN3TUTTGART4YPESETTINGBY THE AUTHOR0RINTEDONACIDFREEPAPERn2ALF3TEINMANN3CHUNK'MB(#O+'3PANNUND'REIFTECHNIK"AHNHOFSSTRAE,AUFFEN.ECKAR'ERMANY(ENRIK3CHUNK3CHUNK)NC+ITTY(AWK$RIVE-ORRISVILLE.#53!$R!NDREAS7OLFROBOMOTION'MB()NDUSTRIESTRAE3TUTTGART'ERMANY£Ê...

... 90 0NType: PGN-plus 100Weight: 0.81kgEnergy/weight ratio: 8.1 J/kgGripping force at 6 barat 10mm stroke: 660Nat 5mm stroke: 1,370NPGNPGN-plus2001 198 3 198 5 198 7 198 9 199 1 199 3 199 5 199 7 199 9 2003By ... λ1 - 2Nmkg 39 Handling: The Underrated Process1.3 What Are The Main Points of This Book? The following chapters focus on the realization of handling technol-ogy tasks. Keynote is the process ... to be gripped. Handling Handling means creating, defined changing or temporarily maintain-ing a pre-set alignment of geometrically defined bodies in a system of coordinates. Further parameters...

... working in the Stanford Artificial Intelligence Laboratory (SAIL), developed the Stanford Arm in 196 9. This 6degree of freedom (6-dof) all-electric mechanical manipulator was hardly a human-like ... survived the stiffening competition dur-ing the first years. In the first robot catalogs published in the former German Democratic Republic ( 198 3 edition by the Forschungszen-trum des Werkzeugmaschinenbaus, ... Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany ( 198 4 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany)...

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... than in the other examples. Form-fit gripping in the direction of accelera-tion and of gravity is provided in the second example. The gripper must counteract the force which stretches the gripper ... 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... Getting To Grips With Handling Tasks 3 The length of the gripper fingers in uences the forces and moments occurring at the gripper kinematics. Therefore, gripping force is frequently specified in ... gripper24 - 102 - oo2 - oo2 - oo2 - oo2 - 31 - 31 - 4 1 - 51 - 6flexible gripper jawsswivel grippers multiple grippers << degree of flexibility 0 1 2 3 4 5 6 7 8 9 10 11 12 ... specifies the type of gripping force which can be applied to the workpiece, and together with the type of gripper fingers it finally determines the principle of gripping, e. g. form-fit or force-fit...

... positioning of workpieces may cause premature wear or damage of gripper or handling system in the long run. The same applies to faulty positioning of the gripper in relation to the workpiece. Integrating ... applied in case of workpiece tolerances leading to bracings. 143Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... PPMPARTSPERMINUTE4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP0ICKWITHSINGLEGRIPANDPLACE IN STACKS4ABLE0ICKANDPLACEONEWORKPIECE70WITHSINGLEGRIPSOURCEROBOMOTION4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4HEWORKPIECES IN THE EXAMPLEMUSTBEROTATEDDEGREEBEFORETHEYCANBEPICKEDUPBY THE MULTIPLEGRIPPER3UCHSUPPOSEDLYEASYCHANGES OF WORKPIECEORIENTATIONCANNOTBEPERFORMEDEFlCIENTLYBYMULTIPLE GRIPPERS IN PRACTICE4HEEXPENDITUREFORPROCESSRELIABILITYANDPERIPHERALADJUSTMENTISSUBSTANTIALCOMPAREDTO THE SINGLEGRIPPERWHICHOFTENPAYSBETTERDESPITEHIGHERCOSTFOR THE HANDLING DEVICE4HEPRINCIPLE OF MULTIPLEGRIPPINGDESCRIBEDSOFARISBASEDON THE ASSUMPTIONTHATALLWORKPIECESAREPICKEDUPBY THE GRIPPERAT THE SAMETIMEANDSUBSEQUENTLYPLACEDAT THE SAMETIME4HEPRINCIPLE OF STACK GRIPPERS WHICHHASlRSTBEENINTRODUCEDAT THE !54 /-! 4)#! IN -UNICH'ERMANYFUNCTIONSACCORDINGTO THE SINGLEGRIPPERCONCEPTBUTISABLETOSTORESEVERALWORKPIECESWITHIN THE GRIPPER$EPENDINGONWORKPIECEDIMENSION THE GRIPPEROFFERSASAVINGCAPACITY OF MINIMUMTWOWORKPIECESANDEXTREMELYSHORTOPENINGANDCLOSINGTIMES&OREFlCIENCYREASONS THE TIMEFORPICKINGAWORKPIECEUPANDSTORINGITWITHIN THE STACKGRIPPERMUSTBESHORTERTHAN THE TIMEFOR THE HANDLING MOVEMENTTRANSPORTPERFORMEDBY THE ROBOTORAXISSYSTEM3EVERALSUCCESSIVEPICKANDPLACEOPERATIONSPERFORMEDBY THE STACKGRIPPERMAKECYCLETIMESHORTERTHANSINGLEPICKANDPLACEOPERATIONSACCORDINGTO THE CLASSICPRINCIPLE OF SINGLEGRIPPING4HESTACKGRIPPERCOMBINESATLEAST PART OF THE BENElTS OF THE SINGLEGRIPPERWITHTHOSE OF THE MULTIPLEGRIPPER-OREOVERTHISGRIPPERHASASOCALLEDDUALSTROKEOPTION4HELATTERREDUCESCYCLETIMEISREDUCEDBECAUSE THE GRIPPERISABLETOPICKWORKPIECESONEAFTER THE OTHER IN SEQUENCEANDRELEASETHEMALLAT THE SAMETIMEPARALLELAT THE PLACESTATION!LIGNMENTPATTERNFORPLACEOPERATIONSREQUIRESROTATINGWORKPIECESDEGREE4ASKINCLUDESPICKOPERATIONFROMACONVEYOROPTIMIZEDFORBLENDANDPLACEOPERATIONFORPACKAGING0LACING IN STACKSDEGREEROTATION OF STACK3ELFSUPPORTINGSYSTEMSORINDIRECTLINKAGESAREDECOUPLEDFROMMATERIALSmOWBYBUFFERSORMAGAZINES4HEWORKPIECESARETAKENFROMSTORAGETOAPROCESSINGSTATIONWHERETHEYAREMANIPULATEDORREORIENTEDANDSUBSEQUENTLYPLACEDFORSTORAGEAGAIN4HEMATERIALSmOWMUSTBEDISTINGUISHED IN ASFARASCYCLETIMESARESELECTEDWITH THE RESULTTHAT THE HANDLING OPERATIONMUSTWAITFOR THE PROCESSINGMACHINE3WIVELUNITSAREFREQUENTLYEMPLOYEDTOAVOIDIDLINGDURINGWORKPIECECHANGE IN THE PROCESSINGMACHINE+INETICDEVICESWHICHCARRY THE GRIPPERS AREUSUALLYHIGHTECHCOMPONENTSWHICHAREMUCHMOREEXPENSIVETHAN THE GRIPPERS !SIXAXISROBOTFOREXAMPLECOSTSFARMORETHAN THE GRIPPERPERFORMING THE PICKOPERATION&ORMOSTINVESTMENTS IN AUTOMATIONPROlTABILITYCALCULATIONINCLUDES HANDLING OUTPUTPERMINUTEIEAROBOTWILLONLYPAYIFITISABLETOMOVEAMINIMUMNUMBER OF WORKPIECESPERMINUTE4HESEECONOMICCONCERNSLEADSFROM THE PRINCIPLE OF SINGLEGRIPPINGTO THE PRINCIPLE OF MULTIPLEGRIPPINGTOREDUCECYCLETIMEPERWORKPIECE/NEBENElT OF SINGLEGRIPPINGISTHATGRIPPERDESIGNDOESNOTNEEDTOBEVERYSOPHISTICATED!TWOlNGERORTHREElNGERGRIPPERWILLBESUFlCIENT#OMBINEDWITHAMULTIAXISROBOT THE GRIPPERCANmEXIBLYENCLOSEWORKPIECESBECAUSEGRIPPERPOSITIONINGCANBECOMBINEDWITHMOSTDIVERSEWORKPIECEORIENTATIONS)NTERMS OF WORKPIECEPOSITIONING IN THE WORKSPACE THE ROBOTCANMAKEFULLUSE OF ITSmEXIBILITY7ORKPIECEORIENTATIONISNOTIMPORTANTFORRELIABLEPICKOPERATIONS IN THISCASE&IGURE-ATERIALSmOWFORSELFSUPPORTINGSYSTEMWITHOUTSWIVELUNITsliding...

... fitted to the inner ring of the sensor. The tool (or gripper) force is transmitted by three crossbars onto the fixture ring of the robot. Figure 4 .9 FTC principle of functionFT sensor in operation ... transmitting information from the gripper to the control of the kinetic device is wireless transmission technology. The latter can be expected to greatly reduce the amount of cabling in automation ... into the pick position.Auxiliary process time for feeding the processing machine is reduced to a minimum as the swivel movement can be performed without any or with minimum effort by the handling...